Non-Recursive Control Design for Nonlinear System With Backlash-Like Hysteresis and Disturbance

Hui Gao,Yaoze Zhao

doi:10.1109/access.2020.3048185

Abstract

In this paper, we propose a non-recursive homogeneity-based robust control for a kind of nonlinear systems with backlash-like hysteresis and external disturbance, as an alternative approach to the well known recursive backstepping design which needs to compute a number of partial derivatives. The backlash-like hysteresis and external disturbance are also considered in our design which makes our method more practical in the application of control engineering. Global asymptotical tracking performance is guaranteed with proposed control scheme. Some simulation results are provided for illustrating our theoretical results.

Highlights

As an important area of control theory, nonlinear system control has been studied for decades, and some excellent control strategies have been proposed, such as input/output linearization [1], backstepping mechanism [2], finite/fixed-time control [3]–[5] and model predictive control [6]
In this paper, a homogeneous non-recursive controller has been desingned for the tracking problem of a class of nonlinear system with backlash-like hysteresis and external disturbances
The tracking controller is much simpler in the non-recursive process than the recursive design

Summary

Introduction

As an important area of control theory, nonlinear system control has been studied for decades, and some excellent control strategies have been proposed, such as input/output linearization [1], backstepping mechanism [2], finite/fixed-time control [3]–[5] and model predictive control [6]. Backstepping method is a promising approach based on recursive design procedure for nonlinear system with strictly feedback forms, see [2], [7], [8] for examples. Due to its recursive design procedure, backstepping method involves a number of partial derivative terms in virtual control and final control at each step. This may lead to a complex control algorithm and make it difficult for implementation, especially for high-order or high relative degree systems. Homogeneous systems, which cover a broad category of inherently nonlinear systems [9], have been studied [10]–[12] and applied in nonlinear system control programming, such as [12]–[15].

Objectives

Methods

Conclusion